The embodiment of the invention discloses a three-dimensional
point cloud data registration method, a device, a device and a computer-readable storage medium. The method includes using RGB-D camera collect a plurality of images and correspond
point cloud data from a plurality of angles simultaneously including an object to be measured and a manual identification map, and that
point cloud data of the plurality of frames can be splice into a
panorama of the object to be measured; According to RGB-D camera internal parameter matrix and
distortion coefficient, and pixel coordinate value of presetcharacteristic point of artificial identification map in each image, calculate and obtaining
rotation matrix and translation matrix of camera corresponding to each image; and D camera internal parameter matrix and
distortion coefficient and pixel coordinate value of preset
characteristic point of artificial identification map in each image; computing The point
cloud data and the corresponding
rotation matrix and translation matrix to obtain the point
cloud data in the same coordinate
system, and completing the registration of point
cloud data. The application not only does not require the point cloud
data set between different image frames, but also improves the registration efficiency of the three-dimensional point cloud data and reduces the registration error of the three-dimensional point cloud data.